2
 0.988902 0.0553997  0.137854   0.13567
 0.127686 -0.791284 -0.597968 0.0687901
0.0759544  0.608934 -0.789577  0.674151
        0         0         0         1
 0.869043 -0.476126  0.134416 0.0180542
-0.324222 -0.753317 -0.572184 -0.165184
  0.37369  0.453672 -0.809035  0.823459
        0         0         0         1
